cmake_minimum_required(VERSION 3.5)
project(motion)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(common REQUIRED)
find_package(seumath REQUIRED)
find_package(seurobot REQUIRED)
find_package(basic_parser REQUIRED)

set(WALK_FILES  
  src/walk/WalkEngine.cpp
  src/walk/CubicSpline.cpp
  src/walk/SmoothSpline.cpp
  src/walk/HumanoidModel.cpp
  src/walk/IKWalk.cpp
  src/walk/LegIK.cpp
  src/walk/Polynom.cpp
  src/walk/Spline.cpp
)

add_executable(motion src/motion.cpp src/services.cpp ${WALK_FILES})
target_include_directories(motion PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

ament_target_dependencies(
  motion
  "rclcpp"
  "common"
  "seumath"
  "seurobot"
  "basic_parser"
)

install(TARGETS motion
  DESTINATION lib/${PROJECT_NAME})

install(FILES motion_launch.py
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
